CN105424008A - Laser marking galvanometer scanning system based on machine vision - Google Patents
Laser marking galvanometer scanning system based on machine vision Download PDFInfo
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- CN105424008A CN105424008A CN201510858914.6A CN201510858914A CN105424008A CN 105424008 A CN105424008 A CN 105424008A CN 201510858914 A CN201510858914 A CN 201510858914A CN 105424008 A CN105424008 A CN 105424008A
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- laser
- scanning system
- machine vision
- laser marking
- marking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
Abstract
The invention discloses a laser marking galvanometer scanning system based on machine vision. The laser marking galvanometer scanning system comprises an image processing system, a laser galvanometer scanning system and a motion control system and specifically comprises a light source, a camera lens, a CCD (Charge Coupled Device) camera, an image capture card, an image processing software, a fiber laser, an opto-isolator, a laser beam-expanding lens, an XY scanning galvanometer, an F-theta lens, a monitor, a communication/input output unit and a three-dimensional adjusting bracket. The laser marking galvanometer scanning system utilizes the machine vision to acquire the position of the workpiece from the view field of the camera, to finish the information capture and the signal conversion and to perform coordinate conversion and direction conversion on the marking document, so that the marking position on the subsequent workpiece is consistent with the position of the first workpiece. Meanwhile, the marking depth can be online measured and the information is supplied for the online feedback control on the laser marking. Compared with the traditional marking positioning, the laser marking galvanometer scanning system has the advantages that different fixtures need not be prepared for different workpieces, the purpose of positioning the workpiece is achieved by only training the machine vision for identifying different patterns, the real-time online detection for the marking quality is performed, the cost is lowered, the general automation is easily realized and the processing precision is further increased and ensured.
Description
Technical field
The present invention relates to technical field of machine vision, relate to a kind of laser marking vibration mirror scanning system of machine vision.
Background technology
Machine vision technique can rely on vision sensor collection site image, and analyze and data processing, guide machine to carry out correct operation afterwards, be the science and technology of a kind of novelty and practicality, machine can be allowed to have the function automatically measured target, identify by video camera and computing machine.
The application of machine vision widely, from industrial detection to file processing, from remote sensing images to medical image, the occasion almost played a role in human vision can be applied to machine vision, it can not feel tired, there are very high tracking velocity and resolving accuracy, save manpower in the industrial production, improve quality and the speed of production of product.
Laser marking utilizes the laser focusing on generation high-energy-density to carry out local irradiation to workpiece, skin-material vaporized or the chemical reaction of color change occurs, thus leaving a kind of marking method of permanent marker.Laser marking is in automobile making, and the various fields such as Medical Instruments manufacture, the packing of product, mobile phone manufacture, electronic components fabrication obtain a large amount of application.
Relative to other marking technique, it have speed fast, without the need to contact, damage the features such as little, visual effect is abundant, but along with the development of laser technology, the new opplication of laser marking also emerges in an endless stream, the robotization realizing mark process is difficult to when the geomery size of workpiece changes, whole efficiency is difficult to promote, and significantly limit the development and apply of laser marking technology.
If machine vision effectively can be combined with laser marking, so can reduce the dependence to tooling fixture in laser marking process automation, vision sensor also can be used as effective feedback signal source simultaneously, monitors, will greatly improve the degree of laser marking robotization to the situation at scene.
Summary of the invention
In order to solve the technical matters existed in background technology, the present invention proposes a kind of laser marking vibration mirror scanning system of machine vision, galvanometer motion control and machine vision are combined, structure is simple, achieve the robotization of mark process and the on-line monitoring of quality up to standard, solve the dependence of laser marking to tooling fixture, simultaneously also for the online feedback of laser marking controls to provide information.
The laser marking vibration mirror scanning system of a kind of machine vision that the present invention proposes, comprises the following steps:
1) mark device group is illuminated by the LED illumination lamp of 890nm, its reflection ray enters CCD camera imaging after F-theta lens, XY galvanometer, 45 degree of catoptrons, camera lens, digital image information is passed to computing machine by camera, and is shown on graphoscope.
2) computing machine processes digital picture, obtains the characteristic information of image.
3) series of computation is carried out in the mark region that computing machine obtains for previous step, obtains the deflection data of XY galvanometer and the make-and-break time of laser instrument in labelling head, by the deflection of control XY galvanometer and the break-make of laser instrument, realizes the accurate mark to mark device.
4) degree of depth of computing machine Real time displaying mark.
Preferably, the light channel structure of laser marking system need not change, and need add one piece of 45 degree of catoptron between labelling head and laser instrument.
Preferably, the laser that fiber laser sends is through laser beam expanding lens, obtain the good laser beam of quality, reach above mark device through 45 degree of catoptrons, XY galvanometer, F-theta lensing, machine vision imaging light path and laser optical path are overlap at 45 degree of catoptrons, XY galvanometer, F-theta lens component.
Preferably, LED illumination lamp to be a row angle of divergence the be LED of 15 degree, outermost one encloses except luminotron, and there are 4 adjacent luminotrons in the surrounding of each luminotron, adopts the power supply type of drive that pulsed and continous way combine.
Preferably, LED illumination needs to carry out secondary homogenizing by the scatter grid of light or frosting, has installed frosted scatter plate when designing and producing additional.
Preferably, luminaire housing adopts the good material of thermal conductivity, and Milling Machining goes out radiating groove outside, and housing side and the back side all have larger louvre.
Preferably, image pick-up card is Based PC I capture card, image promptly can be sent to computer memory and process.
Preferably, visual pattern process adopts threshold segmentation, edge extracting and Contour extraction to determine position and the angle of target.
Preferably, laser positioning is followed the tracks of and is adopted tessellated form to complete calibration process.
Preferably, calibration process adopts and designs gridiron pattern bitmap in software, bitmap is square, mesh spacing one is decided to be 5mm, the right and left has a characteristic pattern respectively, the center of these two characteristic patterns can set in the middle of system of processing, can think that in vision system the coordinate of these 2 points is known quantities, program directly can extrapolate system origin by these 2 coordinates, and do not need overlapping with working origin with reference to correcting image center, then after perspective transform, search edge, Laser Processing coordinate origin under system log (SYSLOG), perspective transformation matrices, pixel and millimeter ratio.
Preferably, the on-line checkingi of the mark degree of depth adopts the non-contact measurement method of laser triangulation.
Compared with prior art, the present invention has following useful technique effect:
The laser marking vibration mirror scanning system of machine vision provided by the invention, Lighting Design is good: the illumination scheme adopted in the present invention highlights the feature of object preferably, add contrast, facilitate system to the identification of feature, the selection of light source considers from aspects such as the curve of spectrum, geometric configuration, brightness of illumination, illumination effect and serviceable lifes, the shooting stage adopts pulse power supply mode, and powers continuously in the moment of capturing.
The laser marking vibration mirror scanning system of machine vision provided by the invention, calibration process is accurate: in order to software energy Direct Recognition is to the initial point of laser scanning, design gridiron pattern bitmap in software, program can extrapolate system origin by the center of two characteristic patterns, and not needing overlapping with working origin with reference to correcting image center, calibration process is accurate.
The laser marking vibration mirror scanning system of machine vision provided by the invention, the detection method lasting accuracy of quality up to standard is high: the present invention adopts laser triangulation, combine with computing machine, make the automaticity of measurement high, measuring method belongs to non-contact measurement, to the material of measured workpiece without particular/special requirement, be applicable to the on-line checkingi of laser marking production scene well.
The laser marking vibration mirror scanning system of machine vision provided by the invention, operative technique requires low: the invention provides friendly using method simple to operation, do not need to possess higher professional knowledge.
Accompanying drawing explanation
Fig. 1 is the structural representation of the laser marking vibration mirror scanning system of a kind of machine vision that the present invention proposes.
Fig. 2 is the confession electrical schematic of luminaire.
Fig. 3 is the chessboard bitmap for correcting and demarcating.
Embodiment
As shown in Figure 1, Fig. 1 is the structural representation of the laser marking vibration mirror scanning system of a kind of machine vision that the present invention proposes.
With reference to Fig. 1, the laser marking vibration mirror scanning system of a kind of machine vision that the present invention proposes, comprise image processing system, laser galvanometer scanning system, kinetic control system, specifically comprise light source, camera lens, CCD camera, image pick-up card, image processing software, fiber laser, optoisolator, laser beam expanding lens, XY scanning galvanometer, F-theta lens, monitor, communication/input-output unit, three-dimensional regulation support etc.In the present invention, mark device group is illuminated by the LED illumination lamp of 890nm, its reflection ray enters CCD camera imaging after F-theta lens, XY galvanometer, 45 degree of catoptrons, camera lens, digital image information is passed to computing machine by camera, and be shown on graphoscope, through image procossing, the deflection of control XY galvanometer and the break-make of laser instrument, realize the accurate mark to mark device, the degree of depth of Real time displaying mark simultaneously.
The laser that in the present invention, fiber laser sends is through laser beam expanding lens, obtain the good laser beam of quality, reach above mark device through 45 degree of catoptrons, XY galvanometer, F-theta lensing, machine vision imaging light path and laser optical path are overlap at 45 degree of catoptrons, XY galvanometer, F-theta lens component.
In a particular embodiment, in order to ensure the brightness of LED illumination and the even of light, the LED that a row angle of divergence is 15 degree is chosen in the present invention, outermost one encloses the words except luminotron, there are 4 adjacent luminotrons in the surrounding of each luminotron, the power supply type of drive adopting pulsed and continous way to combine, has installed frosted scatter plate additional when designing and producing, carry out secondary homogenizing by the scatter grid of light or frosting.Luminaire housing adopts the good material of thermal conductivity, and Milling Machining goes out radiating groove outside, and housing side and the back side all have larger louvre, and these can strengthen the heat exchange area with environment.
Calibration process adopts and designs gridiron pattern bitmap in software, bitmap is square, mesh spacing one is decided to be 5mm, the right and left has a characteristic pattern respectively, the center of these two characteristic patterns can set in the middle of system of processing, can think that in vision system the coordinate of these 2 points is known quantities, program directly can extrapolate system origin by these 2 coordinates, and do not need overlapping with working origin with reference to correcting image center, then after perspective transform, search edge, Laser Processing coordinate origin under system log (SYSLOG), perspective transformation matrices, pixel and millimeter ratio.
Need the coordinate to sweep object and direction transformation during image processing process, first define coordinate and orientation angle, if the coordinate of mark object in original coordinates is, new coordinate is, new coordinate is drawn by following formula:
Wherein Metzler matrix is the transformation matrix of coordinates that the conversion of visual identity tracking result comes.
In order to realize the on-line checkingi of the laser marking degree of depth, the laser triangulation of non-cpntact measurement is adopted in the present invention, and the light path in detection system is designed and optimizes, the measure equation of the degree of depth up to standard is: be wherein image distance, it is the distance of optical axis and lens center, being the angle of optical axis and datum line, is as the projector distance with lens center.
The process of accurate mark is realized for demarcating, gathering target figure, separate targets profile, framing, call locating information, repeatedly following the trail of mark in the present invention.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (10)
1. a laser marking vibration mirror scanning system for machine vision, is characterized in that, comprise the following steps:
1) mark device group is illuminated by the LED illumination lamp of 890nm; its reflection ray enters CCD camera imaging after F-theta lens, XY galvanometer, 45 degree of catoptrons, camera lens; digital image information is passed to computing machine by camera, and is shown on graphoscope;
2) computing machine processes digital picture, obtains the characteristic information of image;
3) series of computation is carried out in the mark region that computing machine obtains for previous step, obtains the deflection data of XY galvanometer and the make-and-break time of laser instrument in labelling head, by the deflection of control XY galvanometer and the break-make of laser instrument, realizes the accurate mark to mark device;
4) degree of depth of computing machine Real time displaying mark.
2. machine vision laser marking vibration mirror scanning system according to claim 1, is characterized in that, the light channel structure of described laser marking system need not change, and adds one piece of 45 degree of catoptron between labelling head and laser instrument.
3. machine vision laser marking vibration mirror scanning system according to claim 1, it is characterized in that, the laser that described laser instrument sends, through laser beam expanding lens, obtain the good laser beam of quality, reach above mark device through 45 degree of catoptrons, XY galvanometer, F-theta lensing, machine vision imaging light path and laser optical path are overlap at 45 degree of catoptrons, XY galvanometer, F-theta lens component.
4. machine vision laser marking vibration mirror scanning system according to claim 1, it is characterized in that, described LED illumination lamp to be a row angle of divergence the be LED of 15 degree, outermost one encloses the words except luminotron, there are 4 adjacent luminotrons in the surrounding of each luminotron, adopts the power supply type of drive that pulsed and continous way combine.
5. machine vision laser marking vibration mirror scanning system according to claim 4, is characterized in that, described LED illumination needs to carry out secondary homogenizing by the scatter grid of light or frosting, has installed frosted scatter plate when designing and producing additional.
6. machine vision laser marking vibration mirror scanning system according to claim 4, is characterized in that, described LED illumination lamp housing adopts the good material of thermal conductivity, and Milling Machining goes out radiating groove outside, and housing side and the back side all have larger louvre.
7. machine vision laser marking vibration mirror scanning system according to claim 1, is characterized in that, the image pick-up card of described camera lens is Based PC I capture card, image promptly can be sent to computer memory and process.
8. machine vision laser marking vibration mirror scanning system according to claim 1, is characterized in that, described computing machine carries out process to digital picture and adopts threshold segmentation, edge extracting and Contour extraction to determine position and the angle of target.
9. machine vision laser marking vibration mirror scanning system according to claim 8, it is characterized in that, described laser positioning is followed the tracks of and is adopted tessellated form to complete calibration process, and the on-line checkingi of the described mark degree of depth adopts the non-contact measurement method of laser triangulation.
10. machine vision laser marking vibration mirror scanning system according to claim 9, it is characterized in that, described calibration process adopts and designs gridiron pattern bitmap in software, bitmap is square, mesh spacing one is decided to be 5mm, the right and left has a characteristic pattern respectively, the center of these two characteristic patterns can set in the middle of system of processing, can think that in vision system the coordinate of these 2 points is known quantities, program directly can extrapolate system origin by these 2 coordinates, and do not need overlapping with working origin with reference to correcting image center, then after perspective transform, search edge, Laser Processing coordinate origin under system log (SYSLOG), perspective transformation matrices, pixel and millimeter ratio.
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106175928A (en) * | 2016-07-14 | 2016-12-07 | 华北电力大学 | A kind of pinpoint medical system of laser and localization method |
| CN106181062A (en) * | 2016-07-29 | 2016-12-07 | 讯创(天津)电子有限公司 | A kind of intelligent manufacturing system of all-fiber three-dimensional laser engraving antenna |
| CN106475682A (en) * | 2016-11-02 | 2017-03-08 | 深圳锦帛方激光科技有限公司 | A kind of cell sealing laser welding apparatus |
| CN106534671A (en) * | 2016-11-02 | 2017-03-22 | 南京大学 | 360-degree image synchronization acquisition system |
| CN106895831A (en) * | 2017-03-07 | 2017-06-27 | 深圳华用科技有限公司 | A kind of laser marking positioning intelligent camera and its automatic correcting method |
| CN106985546A (en) * | 2017-03-10 | 2017-07-28 | 深圳市杰普特光电股份有限公司 | Laser mark printing device |
| CN107234338A (en) * | 2017-08-07 | 2017-10-10 | 镇江金海创科技有限公司 | A kind of Intelligent laser scanning galvanometer system and laser marking device |
| CN107303625A (en) * | 2016-04-14 | 2017-10-31 | 村田机械株式会社 | Laser machine and laser processing |
| CN107457488A (en) * | 2017-08-24 | 2017-12-12 | 广东工业大学 | A kind of marking on the fly system and control method to be tested the speed based on general galvanometer and vision |
| CN107486628A (en) * | 2017-08-24 | 2017-12-19 | 广东工业大学 | A kind of laser marking system and laser marking method of online vision guide contraposition |
| WO2018103694A1 (en) * | 2016-12-07 | 2018-06-14 | 苏州笛卡测试技术有限公司 | Robotic three-dimensional scanning device and method |
| WO2018113565A1 (en) * | 2016-12-20 | 2018-06-28 | 深圳信息职业技术学院 | Laser processing system and method based on machine vision |
| EP3370203A1 (en) * | 2017-03-04 | 2018-09-05 | Wipro Limited | Method and system for marking content on the surface of an object using laser |
| WO2018176879A1 (en) * | 2016-03-26 | 2018-10-04 | 广州新可激光设备有限公司 | Laser marking machine, method for adjusting distance between scanning head and object for marking, and method for automatically aligning marking machine |
| CN109277695A (en) * | 2018-08-01 | 2019-01-29 | 普聚智能系统（苏州）有限公司 | A kind of laser coaxial vision system suitable for stereochemical structure workpiece |
| CN109332905A (en) * | 2018-11-06 | 2019-02-15 | 广东鼎泰机器人科技有限公司 | A kind of laser marking component |
| CN109822224A (en) * | 2019-01-22 | 2019-05-31 | 武汉欧双光电科技股份有限公司 | A kind of laser marking method and marking device |
| CN109866531A (en) * | 2019-02-26 | 2019-06-11 | 王程豪 | A kind of erasing apparatus of chalk writing and application |
| CN112222626A (en) * | 2020-09-17 | 2021-01-15 | 武汉中谷联创光电科技股份有限公司 | Visual positioning device and method for carbon dioxide laser marking at white paint position of PCB |
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| CN117340439A (en) * | 2023-12-06 | 2024-01-05 | 宁德时代新能源科技股份有限公司 | Pole piece marking system and method |
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| WO2018176879A1 (en) * | 2016-03-26 | 2018-10-04 | 广州新可激光设备有限公司 | Laser marking machine, method for adjusting distance between scanning head and object for marking, and method for automatically aligning marking machine |
| CN107303625A (en) * | 2016-04-14 | 2017-10-31 | 村田机械株式会社 | Laser machine and laser processing |
| CN106175928A (en) * | 2016-07-14 | 2016-12-07 | 华北电力大学 | A kind of pinpoint medical system of laser and localization method |
| CN106181062A (en) * | 2016-07-29 | 2016-12-07 | 讯创(天津)电子有限公司 | A kind of intelligent manufacturing system of all-fiber three-dimensional laser engraving antenna |
| CN106475682A (en) * | 2016-11-02 | 2017-03-08 | 深圳锦帛方激光科技有限公司 | A kind of cell sealing laser welding apparatus |
| CN106534671A (en) * | 2016-11-02 | 2017-03-22 | 南京大学 | 360-degree image synchronization acquisition system |
| WO2018103694A1 (en) * | 2016-12-07 | 2018-06-14 | 苏州笛卡测试技术有限公司 | Robotic three-dimensional scanning device and method |
| WO2018113565A1 (en) * | 2016-12-20 | 2018-06-28 | 深圳信息职业技术学院 | Laser processing system and method based on machine vision |
| EP3370203A1 (en) * | 2017-03-04 | 2018-09-05 | Wipro Limited | Method and system for marking content on the surface of an object using laser |
| CN106895831A (en) * | 2017-03-07 | 2017-06-27 | 深圳华用科技有限公司 | A kind of laser marking positioning intelligent camera and its automatic correcting method |
| CN106985546A (en) * | 2017-03-10 | 2017-07-28 | 深圳市杰普特光电股份有限公司 | Laser mark printing device |
| CN107234338A (en) * | 2017-08-07 | 2017-10-10 | 镇江金海创科技有限公司 | A kind of Intelligent laser scanning galvanometer system and laser marking device |
| CN107457488B (en) * | 2017-08-24 | 2023-09-15 | 广东工业大学 | Flight marking system and control method based on universal galvanometer and visual velocity measurement |
| CN107457488A (en) * | 2017-08-24 | 2017-12-12 | 广东工业大学 | A kind of marking on the fly system and control method to be tested the speed based on general galvanometer and vision |
| CN107486628A (en) * | 2017-08-24 | 2017-12-19 | 广东工业大学 | A kind of laser marking system and laser marking method of online vision guide contraposition |
| CN109277695A (en) * | 2018-08-01 | 2019-01-29 | 普聚智能系统（苏州）有限公司 | A kind of laser coaxial vision system suitable for stereochemical structure workpiece |
| CN109332905A (en) * | 2018-11-06 | 2019-02-15 | 广东鼎泰机器人科技有限公司 | A kind of laser marking component |
| CN109332905B (en) * | 2018-11-06 | 2023-09-22 | 广东鼎泰机器人科技有限公司 | Laser marking assembly |
| CN109822224A (en) * | 2019-01-22 | 2019-05-31 | 武汉欧双光电科技股份有限公司 | A kind of laser marking method and marking device |
| CN109866531A (en) * | 2019-02-26 | 2019-06-11 | 王程豪 | A kind of erasing apparatus of chalk writing and application |
| CN112222626A (en) * | 2020-09-17 | 2021-01-15 | 武汉中谷联创光电科技股份有限公司 | Visual positioning device and method for carbon dioxide laser marking at white paint position of PCB |
| CN114911126A (en) * | 2022-07-15 | 2022-08-16 | 北京科技大学 | Laser three-dimensional projection device based on binocular vision and galvanometer scanning |
| CN114911126B (en) * | 2022-07-15 | 2022-10-25 | 北京科技大学 | Laser three-dimensional projection device based on binocular vision and galvanometer scanning |
| CN117340439A (en) * | 2023-12-06 | 2024-01-05 | 宁德时代新能源科技股份有限公司 | Pole piece marking system and method |
| CN117340439B (en) * | 2023-12-06 | 2024-04-19 | 宁德时代新能源科技股份有限公司 | Pole piece marking system and method |
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Application publication date: 20160323 |